YASKAWA MP2000 Series User Manual

6.2 Motion Command Details
6.2.23 Torque /Thrust Reference (TRQ)
6-86
( 3 ) Aborting
The torque control mode can be canceled by aborting execution of a command. A command is aborted by setting the
Interrupt a Command Abort bit (OW09 Bit1) to 1.
• Set the Interrupt a Command bit (OW09, bit 1) to 1. The axis will decelerate to a stop. The abort process-
ing will be completed when the axis has decelerated to a stop.
• The torque control mode operation will restart if the Interrupt a Command bit (OW09, bit 1) is reset to 0
during abort processing.
• This type of operation will also be performed if the motion command is changed during operation with torque
control mode.
( 4 ) Related Parameters
[ a ] Setting Parameters
[ b ] Monitoring Parameters
Parameter Name Setting SVR
OW00
Bit 0
Servo ON
Turn the power to the Servomotor ON and OFF.
1: Power ON to Servomotor, 0: Power OFF to Servomotor
Motor torque will start to rotate when the Servo is turned ON after switching to
Torque Control Mode.
OW03 Function Setting 1
Set the unit for torque reference.
OW08 Motion Command
The mode is changed to torque control when this parameter is set to 24.
OW09
Bit 0
Holds a Command
The axis will stop when this bit is changed to ON while the axis is moving for the
torque reference.
The axis will start moving again when this bit is changed to OFF while the com-
mand is being held.
OW09
Bit 1
Interrupt a Command
A deceleration stop is performed when this bit set to 1 during operation.
OL0C Torque Reference
Set the torque reference. This setting can be changed during operation.
The unit depends on the Function Setting 1 (OW03, bits C to F).
OW0E
Speed Limit Setting at
the Torque/Thrust
Reference
Set the speed limit for torque references. The speed limit is set as a percentage of
the rated speed.
−
OL38
Straight Line Deceler-
ation/Deceleration
Time Constant
Set the rate of deceleration or deceleration time for positioning.
OW3A Filter Time Constant
Set the acceleration/deceleration filter time constant. Exponential acceleration/
deceleration or a moving average filter can be selected in the Function Setting 1
(OW03, bits 8 to B).
Change the setting only after pulse distribution has been completed for the com-
mand (IW0C, bit 0 is ON).
Parameter Name Monitor Contents SVR
IW00
Bit 1
Running (At Servo
ON)
Indicates the Servo ON status.
ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor
IL02 Warning
Stores the most current warning.
IL04 Alarm
Stores the most current alarm.
IW08
Motion Command Re-
sponse Code
Indicates the motion command that is being executed.
The response code will be 24 during TRQ command execution.
IW09
Bit 0
Command Execution
Flag
Turns ON when abort processing is being performed for TRQ command. Turns
OFF when abort processing has been completed.
IW09
Bit 1
Command Hold
Completed
Always OFF for TRQ command.
IW09
Bit 3
Command Error
Completed Status
Turns ON if an error occurs during TRQ command execution.
The axis will decelerate to a stop if it is operating. Turns OFF when another com-
mand is executed.
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R

YASKAWA MP2000 Series Specifications

General

Control Method	Digital Control
Communication Protocols	PROFIBUS-DP, MECHATROLINK-II
Programming Language	Structured Text
Operating Temperature	0°C to 55°C
Storage Temperature	-20°C to 65°C

Summary

Overview

SVB Module Overview and Features

Provides an overview and features of the SVB Module, including its capabilities and architecture.

Specifications

Details the hardware and general specifications of the SVB-01 Module.

Settings and Installation

LED Indicators and Switch Settings

Explains LED indicators, status indications, and switch settings for the SVB-01 Module.

Mounting/Removing SVB-01 Modules

Self-configuration and Created Definition Files

Self-configuration Overview

Explains the self-configuration function and how it reduces system startup time.

How to Execute Self-configuration

Describes two methods for executing self-configuration: using DIP switch and using MPE720.

System Startup Using Self-Configuration

Details system startup procedures for first-time setup, adding devices, and replacing devices.

Self-configuration and Definition Files

Motion Parameters

Motion Parameters Register Numbers

Motion Parameters Setting Window

Motion Parameter Lists

Motion Parameter Setting Examples

Example Setting of Motion Parameters for the Machine

Position Reference

Speed Reference

Acceleration/Deceleration Settings

Motion Commands

Motion Command Table

Motion Commands Supported by SERVOPACK Models

Motion Command Details

Provides detailed descriptions of individual motion commands, including their execution procedures and parameters.

Absolute Position Detection

Absolute Position Detection Function

Explains the function of absolute position detection and its features.

Setting Procedure of Absolute Position Detection Function

Details the system startup flowchart and initialization procedures for absolute encoders.

Absolute Position Detection for Finite Length Axes

Describes parameter settings and precautions for finite length axes using absolute position detection.

Absolute Position Detection for Infinite Length Axes

Explains position control methods for infinite length axes using absolute position detection.

Settings for Connecting Inverters

Specifications for Communications with Connected Inverters

Operating Inverters Using an MPE720

Guides on checking items before operation, operation precautions, and procedures for using inverters with MPE720.

Main Commands and Subcommands

Inverter Alarm and Warning Codes

Classifies and lists inverter errors, alarms, and warnings.

Utility Functions

Controlling Vertical Axes

Overtravel Function

Details connections and parameter settings for stopping the machine when the moving part exceeds movement range.

Software Limit Function

Explains setting upper and lower limits for machine movement to prevent runaway or damage.

Troubleshooting

Troubleshooting System Errors

Provides information for troubleshooting system errors, including register allocations and error status.

Motion Program Alarms

Details motion program alarms, their configuration, and alarm codes.

List of Causes for Command Error Occurrence

Lists causes of command error occurrences for each motion command.

Troubleshooting Motion Errors

Explains details and corrective actions for errors occurring in motion control functions.